Fault tolerant motion planner

A method of handling faults on aircraft, comprising:

• receiving, by one or more processors housed in the aircraft, from a control unit in response to a detection of a fault in the aircraft, an indication of an amount of degradation in a bandwidth of a performance constraint of the aircraft;
• determining, by the one or more processors, responsive to the amount of the degradation in the bandwidth of the performance constraint, that the aircraft is unable to execute a set of commands to control a movement of the aircraft to autonomously navigate along an initial trajectory to a destination without using user input;
• generating, by the one or more processors, a plurality of candidate trajectories to replace the initial trajectory by inputting the amount of degradation in the bandwidth of the performance constraint to a first control algorithm, the plurality of candidate trajectories comprising a plurality of commands that autonomously navigate the aircraft along the plurality of candidate trajectories without using the user input;
• filter the plurality of candidate trajectories to identify a plurality of replacement trajectories having destinations located within a predefined radius about the destination of the initial trajectory;
• selecting, by the one or more processors, a replacement trajectory from the plurality of replacement trajectories based on a comparison of the plurality of commands against the degraded bandwidth of the performance constraint indicating that the replacement trajectory includes commands within the degraded bandwidth;
• generating, by the one or more processors, at least one parameter for a filter of a second control algorithm based on the amount of the degradation;
• inputting, by the one or more processors, the replacement trajectory to a second control algorithm to:
• generate, in accordance with the amount of the degradation in the bandwidth of the performance constraint, a modified set of commands that the aircraft is able to execute to autonomously control the movement of the aircraft along the replacement trajectory without using the user input;
• and
• filter the modified set of commands using the filter configured with the at least one parameter;
• and
• controlling, by the one or more processors via the control unit, the movement of the aircraft in accordance with the filtered set of commands to autonomously navigate the aircraft along the replacement trajectory without using the user input.

An aircraft, comprising:

• one or more processors coupled with memory, the one or more processors configured to:
• receive, from a control unit in response to a detection of a fault in the aircraft, an indication of an amount of degradation in a bandwidth of a performance constraint of the aircraft;
• determine, responsive to the amount of the degradation in the bandwidth of the performance constraint, that the aircraft is unable to execute a set of commands to control a movement of the aircraft to autonomously navigate along an initial trajectory to a destination;
• generate a plurality of candidate trajectories to replace the initial trajectory by inputting the amount of degradation in the bandwidth of the performance constraint to a first control algorithm, the plurality of candidate trajectories comprising a plurality of commands that autonomously navigate the aircraft along the plurality of candidate trajectories without using the user input;
• filter the plurality of candidate trajectories to identify a plurality of replacement trajectories having destinations located within a predefined radius about the destination of the initial trajectory;
• select a replacement trajectory from the plurality of replacement trajectories based on a comparison of the plurality of commands against the degraded bandwidth of the performance constraint indicating that the replacement trajectory includes commands within the degraded bandwidth;
• generate at least one parameter for a filter of a second control algorithm based on the amount of the degradation;
• input the replacement trajectory to a second control algorithm to:
• generate, in accordance with the amount of the degradation in the bandwidth of the performance constraint, a modified set of commands that the aircraft is able to execute to autonomously control the movement of the aircraft along the replacement trajectory without using the user input;
• and
• filter the modified set of commands using the filter configured with the at least one parameter;
• and
• control, via the control unit, the movement of the aircraft in accordance with the filtered set of commands to autonomously navigate the aircraft along the replacement trajectory without using the user input.